CN204446969U - Vertical auxiliary Wicresoft radiotherapy surgical robotic apparatus - Google Patents
Vertical auxiliary Wicresoft radiotherapy surgical robotic apparatus Download PDFInfo
- Publication number
- CN204446969U CN204446969U CN201420826321.2U CN201420826321U CN204446969U CN 204446969 U CN204446969 U CN 204446969U CN 201420826321 U CN201420826321 U CN 201420826321U CN 204446969 U CN204446969 U CN 204446969U
- Authority
- CN
- China
- Prior art keywords
- screw
- bearing
- motor
- end effector
- ball
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
Landscapes
- Radiation-Therapy Devices (AREA)
Abstract
A kind of vertical auxiliary Wicresoft radiotherapy surgical robotic apparatus, include for realize to ultrasound probe rotation and accurate feeding adjustment and be provided with the end effector mechanism of particle puncture template mechanism; Be arranged on below end effector mechanism, also realize the adjustment horizontally rotated of end effector mechanism and horizontally rotating and aligning elevation gear of pitching adjustment for support tip actuator; Be arranged on and horizontally rotate and below aligning elevation gear, rotate for support level and aligning elevation gear realize the support guiding mechanism of front and back position to end effector mechanism, right position and the adjustment of oscilaltion position.This utility model can complete the closely radiation treatment operation of carcinoma of prostate by assist physician under ultrasonography navigation, there is high accuracy, high stability, handled easily, reduce the pain of patient, shorten operation time, performance accuracy in operation can be improved, avoid doctor's operate miss, reduce the wound of patient, alleviate the labor intensity of doctor, improve success rate of operation.
Description
Technical field
This utility model relates to a kind of robot device.Particularly relate to a kind of vertical auxiliary Wicresoft radiotherapy surgical robotic apparatus carrying out Minimally Invasive Surgery for assist physician under ultrasonography navigation.
Background technology
In recent years, the sickness rate of carcinoma of prostate rises year by year, and it is one of means of current modal treatment carcinoma of prostate that close-range particle implants radiation treatment.And traditional hand-operating device precision is low, high to the experience dependency of doctor, operating time is long, in addition, the health of radioactivity to doctor of radioactive particle has certain potential injury.Traditional operation device has fettered the development of close-range particle implant surgery, also limit the surgical healing rate of carcinoma of prostate, greatly affects the physical and mental health of patient.
Ultrasonography has the advantages such as real-time, cheap, handled easily, is most widely used in field of medical images.Surgical robotic apparatus under ultrasonography replaces traditional manual hand manipulation's device, be applied in the operation of close-range particle radiation treatment and have the following advantages: one, medical robot replaces Traditional Man manual operation, has the advantage such as high accuracy, high stability; Its two, using ultrasound ripple image technique, in operation process, doctor according to the position relationship of ultrasonic probe in image and focus, can adjust ultrasonic probe, finds lesions position rapidly and accurately in real time; Its three, close-range particle implant radiation treatment operation in introduce robot device, can reduce doctor operation error rate, improve operation success rate.Can alleviate the operation fatigue strength of doctor, protection doctor's is healthy and safe simultaneously.Therefore, the vertical auxiliary Wicresoft radiotherapy surgical robotic apparatus under ultrasonography has important theory significance and actual application value.
Summary of the invention
Technical problem to be solved in the utility model is, provides one can improve performance accuracy in operation, avoids doctor's operate miss, reduces the wound of patient, improves the vertical auxiliary Wicresoft radiotherapy surgical robotic apparatus of success rate of operation.
The technical scheme that this utility model adopts is: a kind of vertical auxiliary Wicresoft radiotherapy surgical robotic apparatus, include for realize to ultrasound probe rotation and accurate feeding adjustment and be provided with the end effector mechanism of particle puncture template mechanism; Be arranged on below described end effector mechanism, also realize the adjustment horizontally rotated of described end effector mechanism and horizontally rotating and aligning elevation gear of pitching adjustment for support tip actuator; To horizontally rotate described in being arranged on and below aligning elevation gear, for horizontally rotating described in supporting and aligning elevation gear realize the support guiding mechanism of front and back position to described end effector mechanism, right position and the adjustment of oscilaltion position.
Described support guiding mechanism includes and is positioned at bottom and the first leading screw bearing and the line slideway be arranged in parallel, described line slideway is provided with slide block, be provided with in the first described leading screw bearing and be connected with the first stepper motor output shaft for the first ball-screw adjusted before and after realizing carrying out end effector mechanism and the first screw be threaded with described first ball-screw, the first described screw and slide block are fixedly installed and the first described ball-screw and perpendicular the second leading screw bearing of line slideway, described second leading screw bearing being provided with to be connected with the output shaft of the second motor carries out the second ball-screw that left and right adjusts and the second screw be threaded with described second ball-screw for realizing to end effector mechanism, described second screw is fixedly installed the vertical adjustment mechanism for realizing carrying out end effector mechanism vertical adjustment.
The first described screw and slide block are fixedly installed horizontal connecting plate, and the second described leading screw bearing is fixedly installed on described horizontal connecting plate.
Described vertical adjustment mechanism includes the motor lower cover being fixedly installed on described second screw upper end, described motor lower cover is fixedly connected with the motor upper cover plate being arranged on top by support bar, described motor lower cover is provided with the 3rd motor for realizing carrying out end effector mechanism vertical adjustment, the output shaft of described 3rd motor runs through the lower end of described motor upper cover plate connection the 3rd ball-screw, the 3rd described ball-screw is threaded the 3rd screw be positioned at above described motor upper cover plate, described motor upper cover plate is fixedly connected with by the vertical support post of more than 2 running through described 3rd screw that also can move up and down that arranges the lower platform be positioned at above the 3rd screw, the top of the 3rd described ball-screw connects the bottom of described lower platform by bearing, described 3rd screw is vertically installed with the lead of more than 2, what the top of the lead of described more than 2 can move up and down run through, and described lower platform is fixedly connected with for support level rotates and the upper mounting plate of aligning elevation gear.
Described to horizontally rotate and aligning elevation gear includes and is fixedly installed on clutch disk above the upper mounting plate that supports in guiding mechanism by first support post of more than 3, described clutch disk is provided with the aligning elevation gear for realizing carrying out described end effector mechanism pitching adjustment, the top of described aligning elevation gear is provided with the pitching plate for fixation ends actuator, described upper mounting plate is connected with the bottom for realizing the flat turn axle described end effector mechanism being horizontally rotated to adjustment by bearing, described flat turn axle is fixedly installed worm gear, the described clutch disk that runs through that the top of described flat turn axle can rotate is fixedly connected with the rotating basis be positioned at above clutch disk, the side of described worm gear is provided with the worm screw be meshed with described worm gear, one end of described worm screw connects the output shaft of the 4th motor by the clutch shaft bearing seat be fixed on upper mounting plate, the other end of described worm screw is fastened on the second bearing block on upper mounting plate.
Described aligning elevation gear includes the second support post be fixed on described rotating basis, to be arranged on described rotating basis and the 5th motor be positioned at inside the second support post, the output shaft of described 5th motor is connected with the 4th ball-screw, the top of described 4th ball-screw connects the bottom being arranged on the mounting blocks on described second support post top by bearing, described 4th ball-screw has been threaded the 4th screw, the both sides on described mounting blocks top are respectively provided with a bearing block respectively, the bearing block of described both sides connects two ends of pitch axis respectively, the middle part of described pitch axis is fixedly connected with described pitching plate by a connecting key, being hinged with two and paralleling the upper end arranged for realizing connecting rod end effector mechanism being carried out to pitching adjustment of the side symmetry of described pitching plate, the lower end of described two connecting rods be arranged in parallel is hinged on the both sides of described 4th screw respectively.
Described end effector mechanism include be fixedly installed on horizontally rotate and aligning elevation gear top pitching plate on the 3rd leading screw base, two leading screw bearing settlement by laying respectively at two ends on described 3rd leading screw base have the 5th ball-screw, one end of described 5th ball-screw is by the output shaft of shaft coupling connection for realizing the 6th motor ultrasound probe being carried out to accurate feeding adjustment, described 5th ball-screw has been threaded the 5th screw, described 5th screw is fixedly installed rotating base, what the symmetrically arranged support with semicircle groove in described rotating base two ends can rotate respectively is provided with the first fixture and the second fixture, described first fixture and the second fixture are fixedly installed ultrasound probe, be fixedly connected with by probe swivel link between described first fixture and the second fixture, described first fixture is fixedly connected with one end of rear end connecting rod away from that side of probe swivel link, the other end of described rear end connecting rod is connected with cylinder adaptor, described cylinder adaptor connects the 7th motor for realizing ultrasound probe rotation by shaft coupling.
Described particle puncture template mechanism includes the template firm banking be fixedly connected with the 3rd leading screw pan frontward end in end effector mechanism, lower bottom base is provided with below described template firm banking, one end being connected with down-feed screw that the center of described lower bottom base upper surface is run through by bearing, the handwheel up and down for being driven puncture template to move up and down by down-feed screw is provided with below described lower bottom base, the center of described upper and lower handwheel is fixedly installed upper and lower swingle, the top of described upper and lower swingle is fixedly connected with the described down-feed screw running through lower bottom base, the periphery of described lower bottom base upper surface is fixedly installed about two guide pillars, what the top of described about two guide pillars can move up and down runs through the both sides that described template firm banking is fixedly connected with the bearing screw the latter half be positioned at above template firm banking, the bottom of described bearing screw connects the top of described down-feed screw by bearing, being provided with that the middle part of described bearing screw is run through can along the left and right guide pillar moved left and right in described bearing screw, the two ends of described left and right guide pillar are respectively fixedly connected with about one fixed support, the left and right fixed support at guide pillar two ends, described left and right is respectively fixedly connected with puncture template by a template connecting rod respectively, the upper part of described bearing screw has been threaded horizontal screw lead, one end of described horizontal screw lead connects a support in about two fixed supports by bearing, the other end of described horizontal screw lead is by being arranged on one end of the left-right rotary bull stick on another left and right fixed support, the other end of described left-right rotary bull stick connects the left and right handwheel for driving puncture template to move left and right.
Vertical auxiliary Wicresoft radiotherapy surgical robotic apparatus of the present utility model, the closely radiation treatment operation of carcinoma of prostate can be completed by assist physician under ultrasonography navigation, there is high accuracy, high stability, handled easily, reduce the pain of patient, shorten operation time, performance accuracy in operation can be improved, avoid doctor's operate miss, reduce the wound of patient, alleviate the labor intensity of doctor, improve success rate of operation.This utility model has broken away from the manual hand manipulation mechanism in traditional operation, change the automatic surgical robotic apparatus with control system into, and do not limit by hospital bed model, save occupation of land space, ward, facilitate the operation of doctor, there is promotion meaning to the raising of surgery for prostate cancer, and to following surgical machine man-based development, there is reference value.
Accompanying drawing explanation
Tu1Shi Wicresoft local radiotherapy robot system overall structure schematic diagram;
Fig. 2 is the vertical auxiliary Wicresoft radiotherapy surgical robotic apparatus overall structure schematic diagram of this utility model;
Fig. 3 is the overall structure schematic diagram of this utility model lower support mechanism;
Fig. 4 is the overall structure schematic diagram of this utility model pitching rotating mechanism;
Fig. 5 is the overall structure schematic diagram of this utility model end effector mechanism;
Fig. 6 is the overall structure schematic diagram of this utility model particle puncture template mechanism;
In figure
1: vertical auxiliary Wicresoft radiotherapy surgical robotic apparatus 2: switch board
3: castor 4: base plate
5: pushing hands 11: end effector mechanism
12: aligning elevation gear 13: support guiding mechanism
14: particle puncture template mechanism 101: the first screw
102: the first ball-screw 103: the first leading screw bearings
104: horizontal connecting plate 105: line slideway
106: slide block 107: motor mount
108: the second motor 109: the second screws
110: the first motor 111: the three motors
112: motor upper cover plate 113: support post
114: the three ball-screw 115: the three screws
116: upper mounting plate 117: lead
118: lower platform 119: motor lower cover
120: the second ball-screw 121: the second leading screw bearings
122: clutch shaft bearing seat 123: worm screw
124: worm gear 125: the second bearing block
126: the first support posts 127: flat turn axle
128: clutch disk 129: the second support post
130: mounting blocks 131: pitch axis
132: bearing block 133: pitching plate
134: connecting rod 135: the four screw
136: the four ball-screws 137: motor mounting rack
138: the five motor 139: the four motors
140: shaft coupling 141: motor cabinet
142: the three leading screw base 143: the five ball-screws
144: the five screws 145: shaft coupling
146: the six motor 147: the seven motors
148: shaft coupling 149: rotating base
150: the first fixture 151: the second fixtures
152: ultrasound probe 153: leading screw bearing
154: template firm banking 155: lower bottom base
156: down-feed screw 157: guide pillar up and down
158: screw 159: left and right fixed support
160: left and right handwheel 161: puncture template
162: template connecting rod 163: horizontal screw lead
164; Left and right guide pillar 165: rotating basis
166: probe swivel link 167: rear end connecting rod
168: cylinder adaptor 169: left-right rotary bull stick
170: handwheel 171 up and down: swingle up and down
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, vertical auxiliary Wicresoft radiotherapy surgical robotic apparatus of the present utility model is described in detail.
As shown in Figure 2, vertical auxiliary Wicresoft radiotherapy surgical robotic apparatus of the present utility model, include for realize to ultrasound probe 152 rotation and accurate feeding adjustment and be provided with particle puncture template mechanism 14 end effector mechanism 11; Be arranged on below described end effector mechanism 11, also realize the adjustment horizontally rotated of described end effector mechanism 11 and horizontally rotating and aligning elevation gear 12 of pitching adjustment for support tip actuator 11; To horizontally rotate described in being arranged on and below aligning elevation gear 12, for horizontally rotating described in supporting and aligning elevation gear 12 realize the support guiding mechanism 13 of front and back position to described end effector mechanism 11, right position and the adjustment of oscilaltion position.
As shown in Figure 1, vertical auxiliary Wicresoft radiotherapy surgical robotic apparatus 1 of the present utility model, be placed on and have on the base plate 4 of castor 3 and pushing hands 5, simultaneously, described base plate 4 is also placed with the switch board 2 for driving vertical auxiliary Wicresoft radiotherapy surgical robotic apparatus 1 of the present utility model, doctor can utilize pushing hands easily this device to be transported to operation assigned address.
Vertical auxiliary Wicresoft radiotherapy surgical robotic apparatus of the present utility model, supports guiding mechanism and utilizes line slideway firmly to go up layer device, and step motor drive ball-screw realizes the locus adjustment of medical robot.Horizontally rotate and aligning elevation gear utilizes step motor drive worm-and-wheel gear to realize the swing of medical robot, the pitching pose utilizing Five-link machine to complete medical robot regulates.End effector mechanism utilizes motor to drive ball-screw to complete feeding and the rotary motion of ultrasonic probe.Particle puncture template mechanism is upper and lower by doctor's manual adjustments, template is adjusted to the appointed area of radiation treatment by the handwheel of left and right.The motion of above all motors, is all can be operated by the control system based on PLC, has high accuracy and good reliability.Namely under ultrasonography navigation, doctor can handle vertical auxiliary Wicresoft radiotherapy surgical robotic apparatus of the present utility model by the control system of switch board inside, realize ultrasound probe to adjust relative to the relative position at human lesion position, and then determined the lesions position of human body by the real-time of ultrasonography.Secondly by doctor's manual fine adjustment puncture template, radiation treatment is carried out to lesions position.Finally, complete close-range particle and implant radiation treatment operation.
As shown in Figure 3, described support guiding mechanism 13 includes and is positioned at bottom and the first leading screw bearing 103 be arranged in parallel and line slideway 105, described line slideway 105 is provided with can the slide block 106 of linearly guide rail 105 movement, be provided with in the first described leading screw bearing 103 and be connected with the first motor 110 output shaft for the first ball-screw 102 adjusted before and after realizing carrying out end effector mechanism 11 and the first screw 101 be threaded with described first ball-screw 102, the first described screw 101 and slide block 106 are fixedly installed and the first described ball-screw 102 and perpendicular the second leading screw bearing 121 of line slideway 105, the first described screw 101 and slide block 106 are fixedly installed horizontal connecting plate 104, the second described leading screw bearing 121 is fixedly installed on described horizontal connecting plate 104.Described second leading screw bearing 121 being provided with to be connected with the output shaft of the second motor 108 carries out the second ball-screw 120 that left and right adjust and the second screw 109 be threaded with described second ball-screw 120 for realizing to end effector mechanism 11, described second screw 109 is fixedly installed and carries out to end effector mechanism 11 vertical adjustment mechanism that vertically adjusts for realizing.
Described vertical adjustment mechanism includes the motor lower cover 119 being fixedly installed on described second screw 109 upper end, described motor lower cover 119 is fixedly connected with the motor upper cover plate 112 being arranged on top by support bar, described motor lower cover 119 is provided with the 3rd motor 111 for realizing carrying out end effector mechanism 11 vertical adjustment, the output shaft of described 3rd motor 111 runs through the lower end that described motor upper cover plate 112 connects the 3rd ball-screw 114, the 3rd described ball-screw 114 is threaded the 3rd screw 115 be positioned at above described motor upper cover plate 112, described motor upper cover plate 112 is fixedly connected with by the vertical support post 113 of more than 2 running through described 3rd screw 115 that also can move up and down that arranges the lower platform 118 be positioned at above the 3rd screw 115, the top of the 3rd described ball-screw 114 connects the bottom of described lower platform 118 by bearing, described 3rd screw 115 is vertically installed with the lead 117 of more than 2, what the top of the lead 117 of described more than 2 can move up and down run through, and described lower platform 118 is fixedly connected with for support level rotates and the upper mounting plate 116 of aligning elevation gear 12, realize the position adjustment of upper mounting plate 116 oscilaltion.
As shown in Figure 4, described to horizontally rotate and aligning elevation gear 12 includes and is fixedly installed on clutch disk 128 above the upper mounting plate 116 that supports in guiding mechanism 13 by first support post 126 of more than 3, described clutch disk 128 is provided with the aligning elevation gear for realizing carrying out described end effector mechanism 11 pitching adjustment, the top of described aligning elevation gear is provided with the pitching plate 133 for fixation ends actuator 11, described upper mounting plate 116 is connected with the bottom for realizing the flat turn axle 127 described end effector mechanism 11 being horizontally rotated to adjustment by bearing, described flat turn axle 127 is fixedly installed worm gear 124, the described clutch disk 128 that runs through that the top of described flat turn axle 127 can rotate is fixedly connected with the rotating basis 165 be positioned at above clutch disk 128, the side of described worm gear 124 is provided with the worm screw 123 be meshed with described worm gear 124, one end of described worm screw 123 connects the output shaft of the 4th motor 139 by the clutch shaft bearing seat 122 be fixed on upper mounting plate 116, the other end of described worm screw 123 is fastened on the second bearing block 125 on upper mounting plate 116, thus realize the flat turn adjustment motion of mechanism.
Described aligning elevation gear includes the second support post 129 be fixed on described rotating basis 165, to be arranged on described rotating basis 165 and the 5th motor 138 be positioned at inside the second support post 129, the output shaft of described 5th motor 138 is connected with the 4th ball-screw 136, the top of described 4th ball-screw 136 connects the bottom being arranged on the mounting blocks 130 on described second support post 129 top by bearing, described 4th ball-screw 136 has been threaded the 4th screw 135, the both sides on described mounting blocks 130 top are respectively provided with a bearing block 132 respectively, the bearing block 132 of described both sides connects two ends of pitch axis 131 respectively, the middle part of described pitch axis 131 is fixedly connected with described pitching plate 133 by a connecting key, being hinged with two and paralleling the upper end arranged for realizing the connecting rod 134 end effector mechanism 11 being carried out to pitching adjustment of the side symmetry of described pitching plate 133, the lower end of described two connecting rods be arranged in parallel 134 is hinged on the both sides of described 4th screw 135 respectively.4th screw 135 moves on the 4th ball-screw 136, and then drivening rod 134, pitching plate 133 and pitch axis 131, completes the motion of slide block fork, realizes the elevating movement adjustment of mechanism.
As shown in Figure 5, described end effector mechanism 11 include be fixedly installed on horizontally rotate and aligning elevation gear 12 top pitching plate 133 on the 3rd leading screw base 142, two leading screw bearings 153 by laying respectively at two ends on described 3rd leading screw base 142 are provided with the 5th ball-screw 143, one end of described 5th ball-screw 143 connects the output shaft for realizing the 6th motor 146 ultrasound probe 152 being carried out to accurate feeding adjustment by shaft coupling 145, described 5th ball-screw 143 has been threaded the 5th screw 144, described 5th screw 144 is fixedly installed rotating base 149, what the symmetrically arranged support with semicircle groove in described rotating base 149 two ends can rotate respectively is provided with the first fixture 150 and the second fixture 151, described first fixture 150 and the second fixture 151 are fixedly installed ultrasound probe 152, by the connection with rotating base 149 of the first fixture 150 and the second fixture 151, realize the Fast Installation to ultrasound probe 152 and dismounting.Be fixedly connected with by probe swivel link 166 between described first fixture 150 and the second fixture 151, described first fixture 150 is fixedly connected with one end of rear end connecting rod 167 away from that side of probe swivel link 166, the other end of described rear end connecting rod 167 is connected with cylinder adaptor 168, described cylinder adaptor 168 connects the 7th motor 147 for realizing ultrasound probe 152 rotation by shaft coupling 148, complete the rotary motion of ultrasound probe 152, expand the scanning profile of ultrasound probe 152.
As shown in Figure 6, described particle puncture template mechanism 14 includes the template firm banking 154 be fixedly connected with the 3rd leading screw base 142 front end in end effector mechanism 11, lower bottom base 155 is provided with below described template firm banking 154, one end being connected with down-feed screw 156 that the center of described lower bottom base 155 upper surface is run through by bearing, the handwheel up and down 170 for being driven puncture template 161 to move up and down by down-feed screw 156 is provided with below described lower bottom base 155, the center of described upper and lower handwheel 170 is fixedly installed upper and lower swingle 171, the top of described upper and lower swingle 171 is fixedly connected with the described down-feed screw 156 running through lower bottom base 155, the periphery of described lower bottom base 155 upper surface is fixedly installed about two guide pillars 157, what the top of described about two guide pillars 157 can move up and down runs through the both sides that described template firm banking 154 is fixedly connected with bearing screw 158 the latter half be positioned at above template firm banking 154, the bottom of described bearing screw 158 connects the top of described down-feed screw 156 by bearing, being provided with that the middle part of described bearing screw 158 is run through can along the left and right guide pillar 164 moved left and right in described bearing screw 158, the two ends of described left and right guide pillar 164 are respectively fixedly connected with about one fixed support 159, the left and right fixed support 159 at guide pillar 164 two ends, described left and right is respectively fixedly connected with puncture template 161 by a template connecting rod 162 respectively, the upper part of described bearing screw 158 has been threaded horizontal screw lead 163, one end of described horizontal screw lead 163 connects a support in about two fixed supports 159 by bearing, the other end of described horizontal screw lead 163 is by being arranged on one end of the left-right rotary bull stick 169 on another left and right fixed support 159, the other end of described left-right rotary bull stick 169 connects the left and right handwheel 160 for driving puncture template 161 to move left and right, thus the left and right fine adjustment of puncture template 161 can be completed.Left and right handwheel 160 connects horizontal screw lead 163, by the relative motion between screw 158 and horizontal screw lead 163, realizes the left and right fine adjustment of puncture template 161.
Claims (8)
1. a vertical auxiliary Wicresoft radiotherapy surgical robotic apparatus, it is characterized in that, include for realize to ultrasound probe (152) rotation and accurate feeding adjustment and be provided with particle puncture template mechanism (14) end effector mechanism (11); Be arranged on below described end effector mechanism (11), realize horizontally rotating and aligning elevation gear (12) the adjustment horizontally rotated of described end effector mechanism (11) and pitching adjustment for support tip actuator (11); To horizontally rotate described in being arranged on and below aligning elevation gear (12), for horizontally rotating described in supporting and aligning elevation gear (12) realize the support guiding mechanism (13) of front and back position to described end effector mechanism (11), right position and the adjustment of oscilaltion position.
2. vertical auxiliary Wicresoft radiotherapy surgical robotic apparatus according to claim 1, it is characterized in that, described support guiding mechanism (13) includes and is positioned at bottom and the first leading screw bearing (103) be arranged in parallel and line slideway (105), described line slideway (105) is provided with slide block (106), be provided with in the first described leading screw bearing (103) and be connected with the first motor (110) output shaft for the first ball-screw (102) adjusted before and after realizing carrying out end effector mechanism (11) and the first screw (101) be threaded with described first ball-screw (102), described the first screw (101) and slide block (106) are fixedly installed and described the first ball-screw (102) and perpendicular the second leading screw bearing (121) of line slideway (105), described second leading screw bearing (121) being provided with to be connected with the output shaft of the second motor (108) carries out the second ball-screw (120) that left and right adjusts and the second screw (109) be threaded with described second ball-screw (120) for realizing to end effector mechanism (11), described second screw (109) is fixedly installed the vertical adjustment mechanism for realizing carrying out end effector mechanism (11) vertical adjustment.
3. vertical auxiliary Wicresoft radiotherapy surgical robotic apparatus according to claim 2, it is characterized in that, described the first screw (101) and slide block (106) are fixedly installed horizontal connecting plate (104), and the second described leading screw bearing (121) is fixedly installed on described horizontal connecting plate (104).
4. vertical auxiliary Wicresoft radiotherapy surgical robotic apparatus according to claim 2, it is characterized in that, described vertical adjustment mechanism includes the motor lower cover (119) being fixedly installed on described second screw (109) upper end, described motor lower cover (119) is fixedly connected with the motor upper cover plate (112) being arranged on top by support bar, described motor lower cover (119) is provided with the 3rd motor (111) for realizing carrying out end effector mechanism (11) vertical adjustment, the output shaft of described 3rd motor (111) runs through the lower end of described motor upper cover plate (112) connection the 3rd ball-screw (114), the 3rd described ball-screw (114) is threaded and is positioned at the 3rd screw (115) of described motor upper cover plate (112) top, described motor upper cover plate (112) is fixedly connected with by the vertical support post (113) of more than 2 running through described 3rd screw (115) that also can move up and down that arranges the lower platform (118) being positioned at the 3rd screw (115) top, the top of the 3rd described ball-screw (114) connects the bottom of described lower platform (118) by bearing, described 3rd screw (115) is vertically installed with the lead (117) of more than 2, what the top of the lead (117) of described more than 2 can move up and down run through, and described lower platform (118) is fixedly connected with for support level rotates and the upper mounting plate (116) of aligning elevation gear (12).
5. the vertical auxiliary Wicresoft radiotherapy surgical robotic apparatus according to claim 1 or 4, it is characterized in that, described to horizontally rotate and aligning elevation gear (12) includes the clutch disk (128) being fixedly installed on upper mounting plate (116) top supported in guiding mechanism (13) by first support post (126) of more than 3, described clutch disk (128) is provided with the aligning elevation gear for realizing carrying out described end effector mechanism (11) pitching adjustment, the top of described aligning elevation gear is provided with the pitching plate (133) for fixation ends actuator (11), described upper mounting plate (116) is connected with the bottom for realizing the flat turn axle (127) described end effector mechanism (11) being horizontally rotated to adjustment by bearing, described flat turn axle (127) is fixedly installed worm gear (124), the described clutch disk (128) that runs through that the top of described flat turn axle (127) can rotate is fixedly connected with the rotating basis (165) be positioned at above clutch disk (128), the side of described worm gear (124) is provided with the worm screw (123) be meshed with described worm gear (124), one end of described worm screw (123) connects the output shaft of the 4th motor (139) by the clutch shaft bearing seat (122) be fixed on upper mounting plate (116), the other end of described worm screw (123) is fastened on the second bearing block (125) on upper mounting plate (116).
6. vertical auxiliary Wicresoft radiotherapy surgical robotic apparatus according to claim 5, it is characterized in that, described aligning elevation gear includes the second support post (129) be fixed on described rotating basis (165), be arranged on described rotating basis (165) to go up and the 5th motor (138) being positioned at the second support post (129) inner side, the output shaft of described 5th motor (138) is connected with the 4th ball-screw (136), the top of described 4th ball-screw (136) connects the bottom being arranged on the mounting blocks (130) on described second support post (129) top by bearing, described 4th ball-screw (136) has been threaded the 4th screw (135), the both sides on described mounting blocks (130) top are respectively provided with a bearing block (132) respectively, the bearing block (132) of described both sides connects two ends of pitch axis (131) respectively, the middle part of described pitch axis (131) is fixedly connected with described pitching plate (133) by a connecting key, being hinged with two and paralleling the upper end arranged for realizing the connecting rod (134) end effector mechanism (11) being carried out to pitching adjustment of the side symmetry of described pitching plate (133), the lower end of described two connecting rods be arranged in parallel (134) is hinged on the both sides of described 4th screw (135) respectively.
7. vertical auxiliary Wicresoft radiotherapy surgical robotic apparatus according to claim 1, it is characterized in that, described end effector mechanism (11) include be fixedly installed on horizontally rotate and aligning elevation gear (12) top pitching plate (133) on the 3rd leading screw base (142), two leading screw bearings (153) by laying respectively at two ends on described 3rd leading screw base (142) are provided with the 5th ball-screw (143), one end of described 5th ball-screw (143) connects the output shaft being used for realizing the 6th motor (146) ultrasound probe (152) being carried out to accurate feeding adjustment by shaft coupling (145), described 5th ball-screw (143) has been threaded the 5th screw (144), described 5th screw (144) is fixedly installed rotating base (149), what the symmetrically arranged support with semicircle groove in described rotating base (149) two ends can rotate respectively is provided with the first fixture (150) and the second fixture (151), described first fixture (150) and the second fixture (151) are fixedly installed ultrasound probe (152), be fixedly connected with by probe swivel link (166) between described first fixture (150) and the second fixture (151), described first fixture (150) is fixedly connected with one end of rear end connecting rod (167) away from that side of probe swivel link (166), the other end of described rear end connecting rod (167) is connected with cylinder adaptor (168), described cylinder adaptor (168) is connected by shaft coupling (148) and is used for the 7th motor (147) realizing ultrasound probe (152) rotation.
8. vertical auxiliary Wicresoft radiotherapy surgical robotic apparatus according to claim 1, it is characterized in that, described particle puncture template mechanism (14) includes the template firm banking (154) be fixedly connected with the 3rd leading screw base (142) front end in end effector mechanism (11), described template firm banking (154) below is provided with lower bottom base (155), one end being connected with down-feed screw (156) that the center of described lower bottom base (155) upper surface is run through by bearing, the handwheel up and down (170) for driving puncture template (161) to move up and down by down-feed screw (156) is provided with below described lower bottom base (155), the center of described upper and lower handwheel (170) is fixedly installed upper and lower swingle (171), the top of described upper and lower swingle (171) is fixedly connected with the described down-feed screw (156) running through lower bottom base (155), the periphery of described lower bottom base (155) upper surface is fixedly installed about two guide pillars (157), what the top of described about two guide pillars (157) can move up and down runs through the both sides that described template firm banking (154) is fixedly connected with bearing screw (158) the latter half being positioned at template firm banking (154) top, the bottom of described bearing screw (158) connects the top of described down-feed screw (156) by bearing, being provided with that the middle part of described bearing screw (158) is run through can along the left and right guide pillar (164) moved left and right in described bearing screw (158), the two ends of described left and right guide pillar (164) are respectively fixedly connected with about one fixed support (159), the left and right fixed support (159) at guide pillar (164) two ends, described left and right is respectively fixedly connected with puncture template (161) by a template connecting rod (162) respectively, the upper part of described bearing screw (158) has been threaded horizontal screw lead (163), one end of described horizontal screw lead (163) connects a support in about two fixed supports (159) by bearing, the other end of described horizontal screw lead (163) is by being arranged on one end of the left-right rotary bull stick (169) on another left and right fixed support (159), the other end of described left-right rotary bull stick (169) connects the left and right handwheel (160) for driving puncture template (161) to move left and right.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420826321.2U CN204446969U (en) | 2014-12-22 | 2014-12-22 | Vertical auxiliary Wicresoft radiotherapy surgical robotic apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420826321.2U CN204446969U (en) | 2014-12-22 | 2014-12-22 | Vertical auxiliary Wicresoft radiotherapy surgical robotic apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204446969U true CN204446969U (en) | 2015-07-08 |
Family
ID=53653921
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420826321.2U Withdrawn - After Issue CN204446969U (en) | 2014-12-22 | 2014-12-22 | Vertical auxiliary Wicresoft radiotherapy surgical robotic apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204446969U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104548328A (en) * | 2014-12-22 | 2015-04-29 | 天津大学 | Robot device for minimally-invasive local radiotherapy |
| CN105125290A (en) * | 2015-09-25 | 2015-12-09 | 拜耳斯特医疗机器人技术（天津）有限公司 | Minimally-invasive medical robot system |
| CN105640648A (en) * | 2016-03-16 | 2016-06-08 | 北京理工大学 | Pose mechanical-adjusting movable platform |
| CN107243110A (en) * | 2017-05-16 | 2017-10-13 | 哈尔滨理工大学 | A kind of minimally invasive intervention acupuncture mechanism navigated based on ultrasonoscopy |
| CN112426127A (en) * | 2020-09-04 | 2021-03-02 | 华克医疗科技（北京）股份公司 | Robot and method for determining radioactive intensity distribution of target object |
-
2014
- 2014-12-22 CN CN201420826321.2U patent/CN204446969U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104548328A (en) * | 2014-12-22 | 2015-04-29 | 天津大学 | Robot device for minimally-invasive local radiotherapy |
| CN104548328B (en) * | 2014-12-22 | 2017-10-10 | 天津大学 | Minimally invasive local radiotherapy robot device |
| CN105125290A (en) * | 2015-09-25 | 2015-12-09 | 拜耳斯特医疗机器人技术（天津）有限公司 | Minimally-invasive medical robot system |
| CN105640648A (en) * | 2016-03-16 | 2016-06-08 | 北京理工大学 | Pose mechanical-adjusting movable platform |
| CN105640648B (en) * | 2016-03-16 | 2018-06-29 | 北京理工大学 | A kind of pose mechanical conditioning type moveable platform |
| CN107243110A (en) * | 2017-05-16 | 2017-10-13 | 哈尔滨理工大学 | A kind of minimally invasive intervention acupuncture mechanism navigated based on ultrasonoscopy |
| CN112426127A (en) * | 2020-09-04 | 2021-03-02 | 华克医疗科技（北京）股份公司 | Robot and method for determining radioactive intensity distribution of target object |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104548328A (en) | Robot device for minimally-invasive local radiotherapy | |
| CN204446969U (en) | Vertical auxiliary Wicresoft radiotherapy surgical robotic apparatus | |
| CN102113905B (en) | Novel acupuncture surgery manipulator mechanism in nuclear magnetic resonance environment | |
| CN102921099B (en) | Short-distance particle implantation robot based on ultrasonic image navigation | |
| KR101216818B1 (en) | Apparatus for scanning a position | |
| CN105852975B (en) | A kind of compatible mammary gland intervention operation device of nuclear-magnetism | |
| CN107773305A (en) | A kind of four-degree-of-freedom tumor puncture auxiliary robot | |
| CN106901836A (en) | A kind of prostate biopsy operating robot | |
| CN104307113A (en) | Radiation therapy system | |
| CN104812445A (en) | Multi-angle motion treatment bed | |
| CN204709657U (en) | A kind of accurately pendulum position therapeutic bed | |
| CN103027818B (en) | Close-range seed implantation robot and bed connection-type automatic control operating table | |
| CN108392253B (en) | Automatic puncture device for floor type tumor radioactive particle implantation treatment | |
| JP2013169289A (en) | Couch with patient tilting device | |
| CN106175917A (en) | Intersection of sliding perspective orthopaedics pedicle screw inserts auxiliary equipment | |
| CN102258826A (en) | Five-freedom degree minimally invasive acupuncture operation guiding mechanism | |
| CN104307114A (en) | Five degree of freedom O-shaped arm radiation therapy system | |
| CN203043323U (en) | Stereotactic bracket system for prostate particle implantation | |
| CN201055381Y (en) | Three-dimensional therapeutic bed | |
| CN109173099A (en) | Overhead focuses ultrasonic multi-dimensional movement treatment positioning scanning means | |
| CN204619201U (en) | One can realize full track mark radiotherapy equipment | |
| CN106267573A (en) | A kind of accurately pendulum position therapeutic bed | |
| CN105496525A (en) | Long bone fracture reduction and fixation system | |
| CN104107510B (en) | The moving sweep device of high-strength focus supersonic therapeutic system | |
| CN100420496C (en) | Gamma ray therapeutic device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20150708 Effective date of abandoning: 20171010 |
|
| AV01 | Patent right actively abandoned |